Fix indentation bugs in docs, improve attribute order in schema.
PiperOrigin-RevId: 566230568 Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
63fd23a934
commit
ee8da5babe
+21
-21
@@ -1562,7 +1562,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
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.. _mesh-plugin:
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.. _mesh-plugin:
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:el-prefix:`mesh/` |-| **plugin** (?)
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:el-prefix:`mesh/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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'''''''''''''''''''''''''''''''''''''
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Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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@@ -2246,24 +2246,6 @@ defined. Its body name is automatically defined as "world".
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See :ref:`CUser`.
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See :ref:`CUser`.
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.. _body-plugin:
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:el-prefix:`body/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _body-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _body-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _body-inertial:
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.. _body-inertial:
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:el-prefix:`body/` |-| **inertial** (?)
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:el-prefix:`body/` |-| **inertial** (?)
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@@ -2898,7 +2880,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
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.. _geom-plugin:
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.. _geom-plugin:
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:el-prefix:`geom/` |-| **plugin** (?)
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:el-prefix:`geom/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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'''''''''''''''''''''''''''''''''''''
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Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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@@ -3200,6 +3182,24 @@ the direction specified by the dir attribute. It does not have a full spatial fr
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The specular color of the light.
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The specular color of the light.
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.. _body-plugin:
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:el-prefix:`body/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _body-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _body-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _body-composite:
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.. _body-composite:
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:el-prefix:`body/` |-| **composite** (*)
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:el-prefix:`body/` |-| **composite** (*)
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@@ -3650,7 +3650,7 @@ handle where the composite object is attached. For other composite types this su
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.. _composite-plugin:
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.. _composite-plugin:
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:el-prefix:`composite/` |-| **plugin** (?)
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:el-prefix:`composite/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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''''''''''''''''''''''''''''''''''''''''''
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Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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+28
-28
@@ -260,20 +260,6 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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| |_| body |br| |_| |L| | | .. table:: |
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| :ref:`plugin | \* | :class: mjcf-attributes |
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| <body-plugin>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| plugin |br| |_2| |L| | | .. table:: |
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| :ref:`config | \* | :class: mjcf-attributes |
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| <plugin-config>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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| :ref:`inertial | ? | :class: mjcf-attributes |
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| :ref:`inertial | ? | :class: mjcf-attributes |
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| <body-inertial>` | | |
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| <body-inertial>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -385,6 +371,20 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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| |_| body |br| |_| |L| | | .. table:: |
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| :ref:`plugin | \* | :class: mjcf-attributes |
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| <body-plugin>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| plugin |br| |_2| |L| | | .. table:: |
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| :ref:`config | \* | :class: mjcf-attributes |
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| <plugin-config>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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| :ref:`composite | \* | :class: mjcf-attributes |
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| :ref:`composite | \* | :class: mjcf-attributes |
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| <body-composite>` | | |
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| <body-composite>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -398,20 +398,6 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| composite |br| |_2| |L| | | .. table:: |
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| |_2| composite |br| |_2| |L| | | .. table:: |
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| :ref:`plugin | \* | :class: mjcf-attributes |
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| <composite-plugin>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_3| plugin |br| |_3| |L| | | .. table:: |
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| :ref:`config | \* | :class: mjcf-attributes |
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| <plugin-config>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| composite |br| |_2| |L| | | .. table:: |
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| :ref:`joint | \* | :class: mjcf-attributes |
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| :ref:`joint | \* | :class: mjcf-attributes |
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| <composite-joint>` | | |
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| <composite-joint>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -479,6 +465,20 @@
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| | | | :ref:`coord<composite-pin-coord>` | | | | |
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| | | | :ref:`coord<composite-pin-coord>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| composite |br| |_2| |L| | | .. table:: |
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| :ref:`plugin | \* | :class: mjcf-attributes |
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| <composite-plugin>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_3| plugin |br| |_3| |L| | | .. table:: |
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| :ref:`config | \* | :class: mjcf-attributes |
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| <plugin-config>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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| mujoco |br| |L| | | *no attributes* |
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| :ref:`contact<contact>` | | |
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| :ref:`contact<contact>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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@@ -239,10 +239,6 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
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{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
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{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
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"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "user"},
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"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "user"},
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{"<"},
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{"<"},
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{"plugin", "*", "2", "plugin", "instance"},
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{"<"},
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{"config", "*", "2", "key", "value"},
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{">"},
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{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
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{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
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"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
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"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
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{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
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{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
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@@ -270,14 +266,14 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
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{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
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{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
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"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
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"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
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"mode", "target"},
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"mode", "target"},
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{"plugin", "*", "2", "plugin", "instance"},
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{"<"},
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{"config", "*", "2", "key", "value"},
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{">"},
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{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
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{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
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"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
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"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
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"initial", "curve", "size"},
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"initial", "curve", "size"},
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{"<"},
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{"<"},
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{"plugin", "*", "2", "plugin", "instance"},
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{"<"},
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{"config", "*", "2", "key", "value"},
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{">"},
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{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
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{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
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"solreffix", "solimpfix", "type", "axis",
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"solreffix", "solimpfix", "type", "axis",
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"limited", "range", "margin", "solreflimit", "solimplimit",
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"limited", "range", "margin", "solreflimit", "solimplimit",
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@@ -293,6 +289,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
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"density", "solmix", "solref", "solimp", "margin", "gap"},
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"density", "solmix", "solref", "solimp", "margin", "gap"},
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{"site", "?", "4", "group", "size", "material", "rgba"},
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{"site", "?", "4", "group", "size", "material", "rgba"},
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{"pin", "*", "1", "coord"},
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{"pin", "*", "1", "coord"},
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{"plugin", "*", "2", "plugin", "instance"},
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{"<"},
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{"config", "*", "2", "key", "value"},
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{">"},
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{">"},
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{">"},
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{">"},
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{">"},
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